Identification of transparent and specular reflective material in laser scans to discriminate affected measurements for faultless robotic SLAM

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• 作者：Rainer Koch^a ; ^{rainer.koch@th-nuernberg.de}Author Vitae ; Stefan May^aAuthor Vitae ; Patrick Murmann^aAuthor Vitae ; Andreas Nü ; chter^bAuthor Vitae
• 关键词：SLAM ; Error-free mapping ; Multi-echo laser scanner ; Reflectance filter ; Specular reflection ; Reflective objects ; Material discrimination
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：87
• 期：Complete
• 页码：296-312
• 全文大小：4075 K
• 卷排序：87

文摘

The need for discrimination between specular reflective and transparent objects for environmental mapping is demonstrated. The characteristics identified in the measurements of different objects based on distance, angle, and material are investigated. It is shown that shiny metallic materials provide significant characteristics, while mirrors are to be characterized by a mixed model (between glass and shiny metal). Mapping transparent objects turned out to be challenging because of the dependency on the object behind the surface. The problem of mapping transparent and specular reflective objects is treated with an extended version of the Mirror Detector Approach, named Reflection Classifier Approach. It demonstrates the solvability of this problem.